Automated guided vehicle system and automated guided vehicle for use therein

ABSTRACT

An automated guided vehicle system including at least one automated guided vehicle (AGV) for following predetermined magnetic paths on a ground surface to carry cargo to selected points on the paths. The AGV includes a chassis, top plate mounted on the chassis for receipt of cargo, a pair of driving wheels coupled to driving motors, and plural passive omni-wheels. Control and navigation circuitry is provided to operate the motors to drive the driving wheels to cause the AGV to follow a desired one of the paths. The AGV provides illumination indicating its direction of travel and status. It also includes laser scanners for obstacle detection.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a Continuation of U.S. application Ser. No.16/114,659, filed on Aug. 28, 2018, entitled Automated Guided VehicleSystem and Automated Guided Vehicle for Use Therein, which applicationis assigned to the same assignee as the subject invention and whosedisclosure is specifically incorporated by reference herein.

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT

“Not Applicable”

INCORPORATION-BY-REFERENCE OF MATERIAL SUBMITTED ON A COMPACT DISK

“Not Applicable”

FIELD OF THE INVENTION

This invention relates generally to automated guided vehicle systems andmore particularly to automated guide vehicles configured for traversingpredetermined magnetic paths on a ground surface, e.g., the floor of anindustrial plant or warehouse, to enable the vehicle to reach and stopat various points along the path, to traverse branch paths if suchbranch paths exist, and to reverse direction if desired, all under thecontrol of a guidance and navigation system.

BACKGROUND OF THE INVENTION

Automated guided vehicles (“AGVs”) have gained increasing popularity forthe movement of materials or cargo (e.g., parts), between work stationsin a manufacturing plant or between stations in a warehouse or othermaterial handling center. For example, in a factory application, the AGV(or each of the AGVs, if there are more than one), is configured toautomatically carry the particular cargo, e.g., a portion of a componentof a product or an assembly, from a pickup point or station on aprescribed path in the factory to carry that component to another pointor station on the path where that component may be processed, e.g.,assembled to another component, whereupon the processed components arethen carried by the AGV to another point or station on the path, and soforth and so on until the completed component is carried to a dischargepoint where it can be removed from the AGV.

The navigation of the AGV along the paths can be accomplished in variousways. One typical way is through the use magnetic guidance. Oneparticular, magnetic guidance technique is in the form of a magneticstrip which is disposed and secured on the ground surface or floor ofthe plant and extends to the various points or stations in the plantwhere the cargo is to be handled. The AGV includes a magnetic sensor tosense the magnetic strip and associated control and navigation circuitrycoupled to the sensor and to motors to drive the AGV's wheels so that itfollows a desired path and makes stops where appropriate. That magneticpath may be in the form of a continuous main loop whose starting andending points coincide, or a may be a linear or non-linear path having adiscrete starting point and a discrete ending point. In the latter casethe AGV should be bidirectional to enable it to be brought back to thestarting point. Moreover, the main path may have one or more branchpaths extending from it so that the vehicle may turn off of the mainpath onto a desired branch path. The shape and size of the magneticpaths is strictly a matter of design based on the layout of the plantand the equipment at the various stations along the paths that the AGVmay be called upon to stop.

While the AGVs and the magnetic guidance systems including the same thatare commercially available today are generally suitable for theirintended purposes, they nevertheless suffer from one or more of thefollowing drawbacks: complexity of construction and concomitant cost,potential safety issues, ease of use and operation and flexibility to betailored to a particular end use.

Thus, a need presently exists for an AGV system which addresses thosedrawbacks. The subject invention addresses that need.

SUMMARY OF THE INVENTION

One aspect of this invention is an automated guided vehicle configuredto navigate and bi-directionally traverse magnetic path on a groundsurface to carry cargo to selected points on the paths. The pathscomprise a strip of magnetic material of a first polarity facing upwardfrom the ground surface. The automated guided vehicle basicallycomprises a chassis, a top plate, control and navigation circuitry and asource of illumination. The chassis has a central longitudinal axis, afirst section, a second section, and an intermediate section between thefirst and second sections. The first section includes at least one firstpassive omni-wheel configured for rotation about a fixed axis extendingperpendicular to the central longitudinal axis but able to rollomni-directionally over the ground surface. The second section includesat least one second passive omni-wheel configured for rotation about afixed axis extending perpendicular to the central longitudinal axis butable to roll omni-directionally over the ground surface. A first drivewheel is provided located at the intermediate section and is rotatableabout a first transverse axis extending perpendicularly to the centrallongitudinal axis. A first motor is coupled to the first drive wheel andconfigured to rotate the first drive wheel about the first transverseaxis to cause the first drive wheel to roll along the ground surface. Asecond drive wheel is provided located at the intermediate section androtatable about a second transverse axis extending perpendicularly tothe central longitudinal axis. A second motor is coupled to the seconddrive wheel and configured to rotate the second drive wheel about thesecond transverse axis to cause the second drive wheel to roll along theground surface. The top plate is mounted on the chassis and isconfigured to support a cargo item or piece of equipment thereon. Thecontrol and navigation circuitry includes a magnetic sensor for sensingthe strip of magnetic material and for operating the first and secondmotors to cause the vehicle to roll over the ground surface and along adesired one of the paths. The desired one of the paths is established bythe control and navigation circuitry, whereupon the automated guidedvehicle is selectively moved to selected ones of the points under thecontrol of the control and navigation circuitry. The source ofillumination provides illumination adjacent the first section when theautomated guided vehicle is moving in one direction along the paths andprovides illumination adjacent the second section when the automatedguided vehicle is moving in an opposite direction along the paths,whereupon the source of illumination indicates the direction of travelof the automated guided vehicle along the paths.

In accordance with one preferred aspect of this invention the firstsection is modular and the second section is modular.

In accordance with another preferred aspect of this invention the firstsection comprises two first passive omni-wheels, each of the two firstpassive omni-wheels being located on respective transverse sides of thecentral longitudinal axis, and wherein the second section comprises twosecond passive omni-wheels, each of the two second passive omni-wheelsbeing located on respective sides of the central longitudinal axis.

In accordance with another preferred aspect of this invention thechassis has a bottom surface and wherein the first and second sectionsinclude plural respective mounting points located at various distancesfrom the bottom surface for selectively mounting the first and secondpassive omni-wheels thereat.

In accordance with another preferred aspect of this invention thechassis has a bottom surface and wherein the automated guided vehicleincludes a switch located on the chassis adjacent the bottom surfaceconfigured to be engaged by the foot of a user to activate the vehicle.

In accordance with another preferred aspect of this invention theautomated guided vehicle includes a laser scanner on the first sectionand a laser scanner on the second section, each of the scanners isconfigured to detect an obstruction on a portion of the paths and toprevent the automated guided vehicle from colliding with theobstruction.

In accordance with another preferred aspect of this invention theautomated guided vehicle includes an indicator light, which whenilluminated indicates the ready status of the automated guided vehicle.

In accordance with another preferred aspect of this invention theautomated guided vehicle includes an audible alarm for providing anaudible signal indicating the location of the automated guided vehicle.

In accordance with another preferred aspect of this invention theautomated guided vehicle includes channels for receipt of the tines of afork lift to lift the automated guided vehicle off of the groundsurface.

In accordance with another preferred aspect of this invention a conveyorassembly is mounted on the top plate. The conveyor assembly isconfigured for supporting the cargo thereon and for moving the cargofrom one position with respect to the top plate to another position withrespect to the top plate.

In accordance with another preferred aspect of this invention thecontrol and navigation circuitry comprises electronic components thatare located on a board configured to be mounted on the intermediatesection so that the electronic components are located within a hollowinterior space in the intermediate section when the top plate isreleasably mounted on the chassis. The board is configured to be removedfrom the intermediate section and oriented vertically to provide accessto the electronic components when the top plate has been removed fromthe chassis.

In accordance with another preferred aspect of this invention theautomated guided vehicle additionally comprises a coupler for releasablyconnecting a trailer hitch of a wheeled cart or wagon to said automatedguided vehicle for towing by the automated guided vehicle.

In accordance with another preferred aspect of this invention theautomated guided vehicle is configured for remote starting from awireless remote.

Another aspect of this invention is an automated guided vehicle systemcomprising plural predetermined magnetic paths on a ground surface and avehicle like that described above.

One preferred aspect of the automated guided vehicle system comprisespaths that include a main section and at least one branch sectionextending in a direction away from a contiguous portion of the mainsection and a magnetic strip member of a different polarity than thepolarity of the main section to enable the vehicle to roll from the mainsection onto the branch section under the control of the control andnavigation circuitry.

Another preferred aspect of the automated guided vehicle systemcomprises use of a spool of stretch or shrink wrap material mounted forrotation about a vertical axis and located adjacent one of the selectedpoints of the paths. The automated guided vehicle is configured to berotated about a central vertical axis by the control and navigationcircuitry, whereupon the stretch or shrink wrap material is unwound fromthe spool and wound about the cargo on the automated guided vehicle tosecure the cargo in place.

DESCRIPTION OF THE DRAWING

FIG. 1 is an isometric view of one exemplary embodiment of an AGVconstructed in accordance with this invention and for use in anautomated guided vehicle system of this invention;

FIG. 2 is a top plan illustration of an automated guided vehicle systemof this invention including plural AGV of this invention, showingvarious magnetic paths that the AGVs may take to bring them to variouswork stations in a factory;

FIG. 3 is an enlarged front elevation view of the AGV shown in FIG. 1 ;

FIG. 4 is an enlarged side elevation view of the AGV shown in FIG. 1 ;

FIG. 5 is a slightly reduced top plan view of the AGV shown in FIG. 1 ;

FIG. 6 is an enlarged top plan view of the AGV shown in FIG. 1 , butwith its top plate removed to show its chassis;

FIG. 7 is an enlarged isometric view of the AGV shown in FIG. 1 , butwith its top plate removed to show its chassis;

FIG. 8 is an isometric view of the chassis of the AGV shown in FIG. 1 ,but with the top plate removed and with plate on which variouselectronics components of the vehicle are mounted, shown in a state toprovide ready access to those components and to other components of theAGV;

FIG. 9 is an isometric view similar to FIG. 8 showing a portion of aframe assembly for supporting the top plate on the chassis of the AGV;

FIG. 10 is an isometric view similar to FIG. 9 but with the frameassembly for supporting the top plate removed;

FIG. 11 is an enlarged isometric view of the portion of the AGV shownwithin the broken circle designated with the reference number 11 in FIG.10 , to show the manner of adjusting some of the omni-wheels of the AGV;

FIG. 12 is an isometric view showing the underside of the AGV shown inFIG. 1 ;

FIG. 13 is an enlarged isometric view of the portion of the AGV shownwithin the broken circle designated with the reference number 13 in FIG.12 ;

FIG. 14 is an enlarged isometric view of one of the omni-wheels of theAGV;

FIG. 15 is an isometric view similar to FIG. 1 , but showing the AGVequipped with a conveyor system on its top plate;

FIG. 16 is an isometric view of a portion of an exemplary automatedguided vehicle system constructed in accordance with this inventionwherein the AGV is shown adjacent a station mounting a reel of shrinkwrap material, whereupon the vehicle is rotated about a central verticalaxis of the AGV to wrap the shrink wrap material about cargo on the AGV;

FIG. 17 is an isometric view showing the AGV of FIG. 1 for pulling awheeled cart along the magnetic path or track; and

FIG. 18 is an enlarged isometric view of the portion of the AGV shownwithin the broken circle designated with the reference number 18 in FIG.17 .

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

Referring now to the various figures of the drawing wherein likereference characters refer to like parts, there is shown in FIG. 1 oneexemplary embodiment of an automated guided vehicle AGV 20 constructedin accordance with this invention. The AGV is particularly designed toincrease the throughput in manufacturing and warehouse operations usingfactory transit robotics. To that end, the AGV is configured fortransporting material (e.g., cargo) on a pallet or other commercialmaterial handling fixture securely placed to the top of it to traversemagnetic tracks or paths on a ground surface of a facility, e.g., thefloor of a factory, warehouse, etc., to carry the cargo to selectedpoints or work stations. As is conventional, each of those work stationsmay include automated equipment or personnel for handling the cargo,e.g., assembling it, testing it, wrapping it, etc. It should be pointedout at this juncture that the AGV 20 may itself mount some piece ofequipment, e.g., a robotic arm, for accomplishing some task at thestation to which the AGV is brought, as is also conventional.

The construction and operation of the AGV 20 will be described in greatdetail later. Suffice it for now to state that the AGV includes achassis or body 22, having a central longitudinal axis A and a top plate24. The chassis 22 is made up of three sections, namely, a first section22A, a second section 22B and a third section 22C. As will be describedlater the sections 22A and 22B are of similar construction so that theyare modular, and the third section is located between the first andsecond sections, so that it forms an intermediate section. The chassis22 includes an undersurface 22D (FIG. 4 ). The top plate 24 is mountedon the chassis 22. The top plate 24 is configured to carry the cargo ona pallet or other material handling fixture on the AGV to selectedpoints on the magnetic track. In some cases a piece of equipment, e.g.,a robotic arm (not shown) may be mounted on the top plate so that thepiece of equipment can be operated at any work station to perform somefunction thereat.

In order to move the AGV along the desired path, the chassis 22 incudesa pair of drive wheels 26A and 26B (FIGS. 3, 6-10 and 12 ), each ofwhich is mounted on a respective axle. The axles are coaxial and fixedlysecured to the chassis perpendicular to the central longitudinal axis Aso that the drive wheels cannot move up or down with respect to thechassis. The drive wheels are configured to be rotated bi-directionally,i.e., in either a clockwise or counterclockwise direction, by respectiveelectric drive motors 28A and 28B (FIGS. 6 and 8 ) acting throughassociated respective gear boxes 30A and 30B. Thus, the AGV can be movedeither in a forward direction or in a rearward direction along themagnetic path. Each of the motors has a brake associated with it, whichwhen activated causes the motor to immediately stop, whereupon the drivewheels stop rotating. In particular a brake 50A is coupled to the motor28A, and a similar brake 50B is coupled to the motor 28B.

The chassis 22 also includes four ganged omni-wheels 32A, 32B, 32C and32D (FIGS. 4, 6, and 12 ), which are passive, i.e., not driven, andconfigured to roll in any direction across the ground surface, whereuponthe AGV can follow a desired path over floor surfaces that may beuneven, e.g., include dips, without a problem. The control and operationof the AGV is effected by control and navigation circuitry 42 (to bedescribed later) which is programmable, e.g., includes a microprocessor,etc., for operating the drive motors and controlling the path that theAGV will follow.

With the foregoing brief discussion of the AGV 20 having beenaccomplished, a brief discussion of the automated guide vehicle system10 of which the AGV 20 is a component is in order. That system 10, alsoconstitutes an aspect of this invention, and basically comprises amagnetic track or path 12 and at least one AGV 20. The magnetic path islocated, e.g., mounted, on a floor or ground surface of the facilitythrough which the AGV is to be moved. In FIG. 2 there is shown oneexemplary automated guided vehicle system 10 out of a myriad ofpotential systems capable of being designed utilizing the subjectinvention. Thus, as can be seen the exemplary system 10 basicallycomprises a main magnetic path 12 which is in the form of a continuousloop, and two magnetic branch paths 12A and 12B which emanate fromrespective portions of the main magnetic path 12 and which ultimatelymerge back with the main magnetic path at respective junction points.One or more work stations are located adjacent respective points of themain magnetic path 12 and the branch magnetic paths 12A and 12B. In theexemplary embodiment shown the main magnetic path 12 includes a loadingstation 14A at which some cargo, e.g., a component to be assembled intoa product, is loaded onto the AGV, and an unloading station 14B at whichthe cargo, e.g., the finally assembled product, is removed. The workstations 14C-14F are located adjacent respective points on the mainmagnetic path and each station is configured to provide some task withrespect to the cargo carried by the AGVs to that station. In a similarmanner, the work stations 14G and 14H are located adjacent respectivepoints on the branch magnetic path 12A, with each of those work stationsconfigured to provide some task with respect to the cargo carried by theAGVs to that station. So too, there is a work station 141 which islocated at a point adjacent the magnetic branch path 12B for providingsome task with respect to the cargo carried by the AGVs to that station.

The main and branch magnetic paths are each made up of a strip ofmagnetic tape of a first polarity e.g., south pole, facing upwardadhesively secured on the ground surface. In the exemplary embodimentshown the main magnetic path 12 is in the form of a continuous loopwhich ultimately ends back at its starting point. Each AGV 20 includes amagnetic sensor 48, to be described later, which is configured to sensethe magnetic strip to drive the AGV along the magnetic path and to stopit at any point therealong, e.g., a desired work station, according tothe program of the microprocessor in the control and navigationcircuitry 42. If the path includes one or more branch paths, like theembodiment shown in FIG. 2 , onto which the AGVs may be required toturn, a switch marker 16 in the form of strip of magnetic tape ofopposite polarity, i.e., north pole, is located and adhesively securedfacing upward adjacent each point at which the branch magnetic pathturns or diverts from the main magnetic path. Thus, when the AGV reachesthe branch point the magnetic sensor in the AGV at the end of the AGV inthe direction of travel will sense the opposite polarity of the switchmarker strip 16. If a turn onto the branch path at which the switchmarker 16 is located is to be made, the control and navigation circuitrywill cause the drives motor associated with the drive wheels to operateto turn the AGV onto that branch path. For example, if the branch pathis a right turn from the main path, such as the case of the branch path12A, when the AGV 20 reaches the marker strip 16 at the juncture of thebranch path 12A the control and navigation circuitry will cause thedrive motor 28A and its associated gear box 30A to cause the drive wheel26A on the left side of the AGV to rotate faster than motor 28B and itsassociated gear box 30B rotates the drive wheel 26B on the right side.Thus, the AGV will make a right turn into the right branch path 12A. TheAGV will follow the branch path 12A until it reaches the main path 12,at which time it will turn back onto that branch path. It should benoted that if the layout of paths of FIG. 2 is different than thatshown, e.g., there is another branch path emanating from the branch path12A onto which the AGV is desired to turn another marker strip 16 wouldbe located at that junction. The magnetic sensor in the AGV will sensethe switch marker strip and provide a signal indicative thereof to thecontrol and navigation circuitry, which in turn will provide electricalsignals to the drive motors to drive the drive wheels as appropriate tocause the AGV to make the turn onto either the next branch path or backto the main path.

It must be pointed out at this juncture that the potential paths overwhich the AGV can traverse is strictly a matter of design for theparticular application, e.g., the factory, warehouse, etc., throughwhich various cargo is to be carried to various locations or workstations. As pointed out above, that path may be a single main path witha plurality of stops, e.g., work stations, therealong or may be acontinuous path with branch paths emanating from the main path and goingto various other locations which ultimately comes back to the main path.The main path may not be a continuous loop wherein the start point andthe end point are the same. Instead, the main path may have a discretestart point and a discrete end point, which are not the same. Moreover,that main path may include possible branch paths from the main pathbetween the start point and end point. In such a case when the vehiclereaches the end point it may be operated to reverse direction to bringit back to the start point since the AGV 20 is bi-directional. Furtherstill, two paths can overlap at a crossing of 90 degrees and the AGVwill remain on the same track over the crossing.

The switch marker strips 16 can be used as desired to indicate what aparticular AGV is to do. The available actions of the AGV 20 includestopping, bearing left at an intersection, and bearing right at anintersection. In order to ensure proper operation the switch markerstrips should be of a sufficient length, e.g., at least 12″ long, toensure that the AGV's magnetic sensor will read them properly. Themicroprocessor and associated memory of the control and navigationcircuitry 42 is configured to remember the last switch marker seen.However, that circuitry will not remember markers if the power has beenremoved. Thus, a switch marker should preferably be placed just beforeeach turn or merge to ensure the correct marker is read every time anaction is needed, keeping in mind the direction of travels of the AGV.If the AGV is to move in both directions (i.e., bi-directionally) on thesame track or path, the switch markers 16 will have to be placedaccordingly. When first powered on the control and navigation circuitry42 of the AGV 20 defaults to a right turn, unless a different marker isseen.

As will be described later, each AGV 20 is equipped with directionallighting to indicate it direction of travel. In particular, strips ofLEDs are located in the chassis at each end to illuminate the ground inthe direction that the AGV is heading. Moreover, the AGV includes anannunciator, e.g., a beeper, which provides a beeping sound when the AGVis moving. The beeping sound serves as audible warning that an AGV is inthe vicinity so that personnel will be aware of its presence.

The chassis of the AGV 20 also includes a visual indicator indicatingwhen the AGV 20 is powered on. That indicator is in the form of a logobearing the letters “ASI” (a portion of the name of the assignee of thisinvention) which light up on either side of the chassis 22 when the AGV20 is powered on.

The AGV 20 also includes a safety laser scanner 60 (to be describedlater) on each end of the chassis 22. Those two safety laser scannersform a portion of an obstacle detection system and are designed todetect a person or obstacle that is in the path that the AGV istravelling, i.e., within the line of sight of the laser scanner, and toprovide a signal indicative thereof to the control and navigationcircuitry 42. Upon receipt of such a signal the control and navigationcircuitry 42 will actuate the AGV's brakes to immediately stop themotion of the AGV.

Turning now to FIGS. 1 and 3-5 the details of the top plate 24 will nowbe described. To that end, as can be seen the top plate comprises agenerally planar member formed of any suitable material, e.g., steel,aluminum, etc. The top plate includes various fixturing holes 24A. Thefixturing holes 24A are counter-sunk through-holes to accommodatethreaded fasteners (not shown) to directly secure the top plate 24 ontothe chassis 22, as will be described later. In addition, the fixturingholes 24A, may be used for accommodating threaded fasteners to mount anysuitable type of fixture, e.g., a conveyor assembly (to be describedlater), on the top plate. In addition, the top plate includes six palletguides 24B located at respective locations along the periphery of thetop plate. The pallet guides 24B serve to center a conventional pallet102 (FIG. 16 ) for holding cargo on the top plate 24.

The chassis 22 may include a top frame assembly 34 (FIGS. 3, 4 and 9 )on which the top plate is mounted. If so the top plate 24 is notdirectly mounted on the sections 22A, 22B and 22C of the chassis, butinstead is mounted on the top plate assembly 34, which in turn ismounted on the chassis sections 22A, 22B and 22C. In particular, themounting of the top plate 24 on the top frame assembly 34 is achieved byuse of threaded fasteners (not shown) extending through the holes 24A inthe top plate into internally threaded holes 34A (FIG. 9 ) of the topframe assembly 34. The top plate assembly 34 is in turn secured to thechassis sections 22A, 22B and 22C by means, not shown.

As best seen in FIG. 9 , the top frame assembly 34 also includes pluralpairs of other holes 34B. One such pair is adjacent each of the cornersof the top plate, with two other pairs centered about the axis A at eachend of the top plate. Each of the holes 34B of each pair is configuredto receive the threaded shank of a threaded fastener, e.g., a screw 24C(FIG. 3 ), through it so that the threaded end of the screw's shank isthreadedly secured within a respective internally threaded hole in arespective pallet guide 24B. A plurality of small square foam pads (notshown) are interposed between the top plate and the top frame assemblyto minimize vibration of the top plate when the AGV is in motion.

If the top plate 24 is mounted directly on the sections 22A, 22B and 22Cof the chassis, which is preferred although not shown in the drawings,threaded fasteners, e.g., screws, are threaded through the fixturingholes 24A in the top plate 24 into internally threaded tapped holes 22D(FIG. 6 ) in the intermediate section 22C to thereby secure the topplate onto the chassis 22. In addition, a plurality of small square foampads (not shown) are interposed between the top plate 24 and the chassissections 22A, 22B and 22C to minimize vibration of the top plate whenthe AGV is in motion.

It should be pointed out at this juncture that if the AGV is constructedso that its top plate 24 is directed mounted onto the sections 22A, 22Band 22C of the chassis, the top plate 24 will still include the palletguides 24B, like shown in FIG. 1 .

As mentioned earlier and as best seen in FIGS. 6, 7, 9, 10 and 12 , thechassis 22 basically comprises two modular frame sections 22A and 22B,and an intermediate frame section 22C located between the frame sections22A and 22B. The frame sections 22A, 22B and 22C together form thesub-frame of the chassis 22. The modular frame sections 22A and 22B areidentical in construction and each includes a box-like chamber or cradle36 within its interior. In the exemplary embodiment shown the cradle 36in the section 22A serves to hold a pair of electrical batteries 38 toprovide electric power to the AGV 20. The cradle 36 in the section 22Bcan be used to hold anything. In fact, if desired, the cradle 36 ofsection 22A may be used to house additional batteries for powering theAGV 20. The sub-frame of the chassis at section 22A includes a floorpanel 36A. Since the sections 22A and 22B are modular, the sub-frame ofthe chassis at section 22B also includes a floor panel 36A.

The intermediate section 22C to which the top frame assembly boltsincludes a box-like chamber or cradle 40. The box-like chamber or cradle40 serves to hold the motors 28A and 28B, the brakes 50A and 50B, thegear boxes 30A and 30B and the electronic and electrical componentsmaking up the control and navigation circuitry 42. In particular, thecradle 40 includes a removable lid or panel 40A having an undersidesurface on which the electrical and electronic components of the controland navigation circuitry 42 are mounted. The panel 40A is configured tobe oriented so that in normal use it is horizontal, like shown in FIG. 7, whereupon the control and navigation circuitry 42 is located withinthe cradle 40. Thus, when the panel 40A is closed the cradle effectivelybecomes the electronics box for the AGV. The panel 40A is configured sothat it can be removed and placed in two vertically oriented slots 40Bin the chamber 40, so that the panel 40A is oriented vertically likeshown in FIGS. 6 and 8 to provide access to the control and navigationcircuitry 42, to the motors 28A and 28B, the gear boxes 30A and 30B andthe brakes 50A and 50B for servicing thereof. The underside of thecradle 40 is in the form of a flat panel 40C (FIG. 12 ).

As best seen in FIGS. 1, 3 and 7 the sub-frame of the chassis is coveredby two identical body panels 52 which are secured together and to thesub-frame by plural threaded fasteners 54. The connected body panels ateach end of the chassis include an elongated window 56 extendingthereacross. The window includes enlarged area portions 56A which enableone to gain access into the chassis through the enlarged windows.

As shown in FIGS. 11 and 14 , each of the omni-wheels 32A, 32B, 32C and32D is configured to be rotated about a respective stationary (fixed)axle 44 which extends perpendicularly to the longitudinal axis A. Yet,owning to the construction of the omni-wheels, each can rollomni-directionally across the ground surface and thus perform thefunction of a caster. However, unlike a caster which is prone to “kick”when it is aimed in the opposite direction from the direction the casteris to be moved, the omni-wheel will easily and smoothly change directionwithout any tendency to kick. Moreover, the axle 44 of each of theomni-wheels is configured to be adjusted in height with respect to theground surface so that the AGV can be used on floor surface paths thatare not perfectly smooth, e.g., have some dips or depressions. In sodoing, the AGV can rock front-to-back about the coaxial axis of thedrive wheels 28A and 28B, whereupon the drive wheels will always engagethe floor surface. To that end, as best seen in FIG. 11 , the eachmodular section 22A and 22B includes a pair of axle mounting plates 46,each in a respective corner of the modular section. Each plate 46includes three holes 46A, 46B, and 46C in it for respective receipt ofthe axle 44 of the omni-wheel that is mounted at that corner of themodular section. The hole 46A is located closest to the undersurface 22Dof the chassis section in which the plate 44 is mounted. The hole 46B islocated furthest from that undersurface and the hole 46C is locatedintermediate the holes 46A and 46B.

If the ground surface along which the path or track is disposed isuneven to the point that it includes at least one substantial dip ordepression, the axle 44 of each of the omni-wheels should be locatedwithin the upper hole 46B. In particular, as shown in FIGS. 10 and 11 ,the axle 44 of the omni-wheel 32D of the chassis section 22B should belocated in in the hole 46B in the plate 46 in one corner of the section22B and the axle 44 of the omni-wheel 32B should be located in the hole46B in the plate in the opposite corner of that modular section.Similarly, the axle 44 of the omni-wheel 32C should be located in thehole 46B in the plate 46 in one corner of the section 22A and the axle44 of the omni-wheel 32A should be located in the hole 46B in the plate46 in the opposite corner of the section 22A. As such all of theomni-wheel 32A-32D will extend out of the undersurface of chassis by theleast distance allowable, thereby allowing the AGV to rock substantiallyabout the axis of the drive wheels, if necessary so that the drivewheels will engage the surface of any deep depression in the floor andwill not “free wheel” (i.e., spin freely). Accordingly, the AGV will nothang up or stall when it reaches that dip or depression, as could be thecase if the omni-wheels extended further out of the chassis, since thataction could result in the drive wheels being held out of engagementwith the surface of the depression.

If the floor or ground surface on which the path the AGV 20 is totraverse is very flat or even, the omni-wheels should be positioned sothat their axles are located within the lowermost of the holes 46A inthe plates 46. For floor surfaces that are not quite even or flat, yetwithout substantially deep depressions, the omni-wheels should be placedin the intermediate holes 46C in the plates 46.

It should be noted that depending upon the condition of the floor orground surface upon which the AGV 20 is to roll, all of the omni-wheelsneed not be located in the same holes. Thus, the omni-wheel in eachcorner of the chassis may be located in particular hole foraccommodating the topography of the floor or ground surface upon whichthe paths extend.

As mentioned earlier, the AGV 20 includes bi-directional lighting toindicate the direction of travel along the magnetic track or path. Thebi-directional lighting is in the form of strips of LEDs located at eachend of the chassis 22. In particular, as best seen in FIG. 13 , a stripor string 58 of blue LEDs is mounted within the chassis section 22A atone side of window 56. A similar strip of blue LEDs is mounted withinthe chassis section 22A at the opposite side of that window 56. In asimilar manner a strip 58 of blue LEDs is mounted within the chassissection 22B at one side of window 56, and a similar strip of blue LEDsis mounted within the chassis section 22B at the opposite side of thatwindow 56. If the AGV 20 is moving in the direction wherein the chassissection 22A is facing in the direction of travel, the LED strip 58 inthat chassis section will illuminate, so that blue light will projectout of the chassis section 22A and onto the ground, thereby indicatingthe direction of forward travel of the AGV. Conversely, if the AGV ismoving in the direction wherein the chassis section 22B is facing thedirection of travel, the LED strips 58 in that chassis section willilluminate.

As also mentioned earlier the AGV 20 includes an obstacle detectionsystem configured to detect an obstacle in the path of the AGV. Inparticular, as best seen in FIGS. 3, 6 and 7 , a laser scanner 60 ismounted in the chassis section 22A immediately adjacent the center ofits window 36. A similar laser scanner 60 is mounted in the chassissection 22B immediately adjacent the center of its window 36. The laserscanners are coupled to the control and navigation circuitry 42 and areconfigured to receive electrical signals therefrom and provideelectrical signals thereto. When activated by the control and navigationcircuitry each laser scanner will to project a non-visible laser beamoutward from the end of the chassis at which it is located. Thatnon-visible laser beam will be reflected off of any person or obstaclein the line of sight back to the scanner, which provides an electricalsignal to the control and navigation circuitry. Thus, for example, if aperson is detected in the direction that the AGV 20 is traveling thecontrol and navigation circuitry will cause the AGV to stop and wait forthe person to move. Moreover, if someone or something is detected asbeing in the path of the AGV the directional lighting, e.g., the blueLED strips 58, will blink to indicate that occurrence. Further still, ifthe AGV is stopped for more than five seconds the control and navigationcircuitry 42 will cause the beeper to produce a double beep to alertunaware personnel that they may be blocking the AGV, or to call out forhelp if the path is blocked. The control and navigation circuitry 42 isconfigured to provide approximately a two second delay between when theAGV no longer senses an object in its path and when it starts movingagain. It should be noted that only the laser scanner in the directionthat the AGV is moving is active. This prevents the AGV from presentinga tripping hazard if walked behind.

As best seen in FIG. 6 one of the heretofore identified magnetic sensors48 is mounted in the chassis section 22A below the laser scanner 60 sothat it overlies the magnetic path 12. The magnetic sensor 48 is coupledto the control and navigation circuitry 42 to provide a signal theretoindicating the sensing of the magnetic tape path and its polarity.Another identical magnetic sensor 48 is mounted in the section 22B belowthe laser scanner 60 in that section and is also coupled to the controland navigation circuitry 42.

Turning now to FIGS. 3 and 6 , it can be seen that the AGV 20 includes asmall kick button switch 64 on either end of the chassis. Pressing theswitch 64 will cause the AGV 20 to start to move away from the end ofthe chassis where the button was pressed. The kick button is located sothat it can conveniently be kicked by a user's foot when desired. Theannunciator (beeper) in the AGV 20 will beep a number of times when thebutton 64 is pressed (kicked) to let the user know that his/her commandis understood and to communicate information about battery life. Inparticular, the beeper will emit one beep if the charge in the batteries38 is good and there is no need to charge them. If the beeper emits twobeeps that action indicates that the charge in the batteries is gettinglow and that they should be charged at next opportunity. If the beeperemits three beeps those beeps indicate that the charge in the batteriesis dangerously low and that they should be charged immediately. Thebatteries are configured to be charged via a charging port 66. Thecharging port is located immediately behind the enlarged portion 56A ofthe window 56 at the chassis section 22A and includes a latch which isconfigured to be pushed to open it, whereupon a charging cable (notshown) can be pulled out to charge the batteries. The charging cable isconfigured to be plugged into a typical 120 V AC wall outlet, and theninto the charging port until the release clicks.

The charger system of the AGV 20 also includes LEDs that will illuminatewith in one of the following manners. If the LEDs blink orange thatindicates deep charging is necessary (e.g., when the battery has beendischarged below 5 volts). If this occurs one should charge batteriesmore frequently. If the LEDs are illuminated as solid orange, thatindicates normal charging. If the LEDs are illuminated as solid green,this indicates that charge is complete. If the LEDs are illuminated assolid red this indicates a fault condition, e.g., the fault indicatorLED communicates that the batteries have been charging for a sufficientamount of time but have not reached full charge. This could indicatethat the batteries are nearing the end of their life. When charging iscomplete the AGV 20 can be used immediately or left on the charger tomaintain the battery charge. The charging cable should be removed beforeusing the AGV 20. This is accomplished by pushing the release latch onthe top of the charging port and then pulling the charging cable out.

The AGV 20 is configured to be turned on (powered up) via a key lockswitch 68 that is located immediately behind the other enlarged portionof window 36 of chassis section 22A. The key lock switch 58 isconfigured to receive a key, which when turned to an “on” positionresults in the AGV being powered up. When the key of the key lock switchis turned to an “off” position the key can be removed. The key lockswitch also includes a “neutral brake off” position, whereupon when thekey is rotated to that position, the AGV's brakes are released so thatthe AGV can be manually pushed to a desired position. When the key is inthe on position all operating systems of the AGV will be enabled.

As mentioned earlier the AGV includes lighting to indicate that it is inthe on or active state and ready to move. In particular, each of thebody panels 52 includes the transparent logo 70 bearing the letters“ASI”, with lighting located within the chassis adjacent the transparentlogo. Accordingly, when the key lock switch 68 is turned to the onposition, the logo ASI will illuminate.

An emergency stop button 72 is provided at each end of the chassis 22adjacent the kick button 64. The emergency stop button is configured sothat pressing it (e.g., kicking it) will cause the control andnavigation circuitry 42 to deactivate the AGV and cause its brakes tofunction so that the AGV will immediately stop moving. The emergencystop button is configured to be disengaged by manually rotating it,whereupon it will be released so that the AGV can start to move again.

While not shown, there is a main power fuse located inside of thechassis under the top plate and inside the electronics box. This fuseprotects the AGV in case there is an unusually large power draw in thesystem. As mentioned earlier, the electronics panel can be accessed byremoving the top plate and lifting the top of the electronics panel 40Aup as shown in FIG. 8 . There is also a charging fuse located rightbehind the charging port. This fuse protects the AGV in case anunexpected current is applied to the battery.

It should be pointed out at this juncture that the gear boxes 30A and30B can be of conventional construction, or may utilize new gearingtechnology, such as that disclosed in U.S. Published Patent Application2017/0167589 entitled “Conjugate Gears With Continuous Tooth FlankContact”, whose disclosure is incorporated by reference herein.Commercial embodiments of that alternative gear technology are soldunder the trademark CONVOLOID2. Use of such alternative gear technologyin the gear boxes 30A and 30B, should lower the costs of production ofthe AGV and produce the same power ratings in a considerably smaller,e.g., 25% to 30%, space. Accordingly, an AGV making use of suchalternative gear technology can provide more room in the power sectionof the AGV for additional electronics and other features and couldpossibly reduce the cost of the AGV by enabling one to utilize smallermotors.

Turning now to FIG. 12 , it can be seen that the chassis 22 includes apair of channels 74 which extend transversely across the bottom of inthe respective modular sections 22A and 22B. The channels 74 areconfigured to receive respective tines of a fork lift (not shown). Tothat end, the channels 74 are preferably separated by a distance of23.5″ measured center-to-center to accommodate the tines of aconventional fork lift. Thus, the AGV 20 can be lifted and transportedto and from the track or path by any fork lift vehicle. For example,upon first use of the AGV 20, it can be removed from its crate and oncefree of the crate it can be lifted by fork lift using the two fork liftchannels 74 to carry the AGV to the track or path 12.

FIG. 14 shows the omni-wheels 32A/32B/32C/32D, which are preferablyavailable from Rotacaster under the model designation R2-1258-95/S13. Inthe exemplary embodiment each of the omni-wheels includes fouromni-wheels which are ganged together for mounting on a common axle 44.While the disclosed embodiment of each of the omni-wheels of the AGV 20are in the form of four ganged omni-wheels, that is merely exemplary.Thus, any number of omni-wheels can be ganged together depending uponthe width desired for a particular application. Moreover, omni-wheelsfrom other manufacturers are contemplated for use in the AGV 20.

It should be noted that the AGV 20 can accommodate custom fixturing onthe top plate 24 for specialized cargo, fixtures or equipment. To thatend, fixtures should preferably mount using the ⅜″-16 UNC-28 threads ona 14.00″×14.00″ square bolt pattern. Moreover, any fixture or payload'scenter of mass should be within three inches of the center point.

It is also contemplated that a conveyor system be mounted on the topplate 24 to facilitate the moving of cargo or equipment from oneposition on the top plate to another position. To that end, attention isdirected to FIG. 15 , wherein one exemplary embodiment of a conveyorsystem 80 is shown mounted on the top plate of the AGV 20. The conveyorsystem 80 basically comprises a pair of side rails 82 extending thelength of the top plate on each side thereof. A plurality of elongatedrollers 84 (only one of which can be seen) extend transversely to theaxis A between the side rails 82. Each roller is journaled on arespective axle 86 extending between the side rails, so that each rollercan rotate about the axis of the axle. A continuous web or belt 88 ofany suitable flexible material, rubber, woven metal, woven plastic,etc., extends about the rollers to form a surface on which the cargo canbe placed and moved along the conveyor by the rotation of the rollers.While the exemplary embodiment of the conveyor system shown in FIG. 16makes use of a belt surrounding the rollers, that conveyor system ismerely one example exemplary of various conveyor systems that can beused with this invention. For example, the conveyor system 80 need notinclude a belt. It may just consist of powered or unpowered rollers. Inany case, if the system makes use of powered rollers, they can bepowered from a motor, not shown. Thus, it should be pointed appreciatedby those skilled in the art that the exemplary embodiment of theconveyor system 80 of this invention shown and described above, ismerely one of a large number of conveyor systems that could be mountedon the top plate or be a substitute for the top plate.

Turning now to FIG. 16 , there is shown a work station forming a portionof the system 20 at which cargo, e.g., boxes 100, on a pallet 102 on theAGV 20 can be wrapped with a stretch wrap or shrink wrap material. Inparticular, the work station shown includes a fixture 90 having a reel92 of a stretch wrap plastic film or a shrink wrap plastic film mountedfor rotation about a vertical axle 94. The fixture 90 includes a base90A that may be secured to the floor surface adjacent the track, by anysuitable means, e.g., fasteners 90B, or may merely be disposed on thefloor. In any case, the reel can be moved up and down the axle tovarious heights therealong. In use, the AGV 20 with the cargo thereon tobe wrapped is brought to the station, and a free end of the web of film92 is brought into engagement with a portion of the cargo on the pallet.The AGV is then operated to cause its drive wheels to rotate the AGVabout a central vertical axis B in the direction of the arrow 96,thereby unwinding the film from the reel and wrapping it about thecargo. Once wrapped, if the film is shrink wrap file, it can be heatshrunk to secure the cargo in place on the pallet. If the film isstretch wrap film, the operation of wrapping about the cargo willstretch the film so that it securely holds the cargo in place. It shouldbe pointed out at this juncture, that instead of making use of a fixture90 to hold the reel 92 of stretch wrap or shrink wrap film, that reelcan be hand held by an operator.

The AGV 20 can also be used in what can be referred to as a “tugger”mode wherein it is used to pull or tow one or more wheeled carts orwagons behind it, like a locomotive of a train. One such exemplaryembodiment of an AGV of this invention configured for use in a tuggermode is shown in FIG. 17 . In that embodiment the pallet guide 24B whichwould be located on the central longitudinal axis of the AGV 20 at whatwould be the rear or trailing end of the AGV is replaced by an adaptoror coupler 104. The coupler 104 is configured for releasable securementto a trailer hitch of a wheeled cart 200. When so connected the wheeledcart 200 can be pulled by the AGV along the magnetic path. The cart 200is exemplary of numerous carts that can be used with the AGV in thetugger mode. To that end, the cart 200 includes plural wheels or casters202 and at least one, but preferably plural, shelves 204. The front endof the cart 200 includes a trailer hitch 206. The particular embodimentof the trailer hitch 206 shown is in the form of a clevis-type hitch ora ring-type hitch having a free end which includes a hole (not shown)configured to releasably receive a pivot pin 108 (FIG. 18 ) of thecoupler 104. It should be noted that the coupler 104 and the trailerhitch 206, can be of any suitable construction to releasably connect anytype of cart or wagon to the AGV 20 so that it can be towed along themagnetic path. Moreover, while the coupler 104 is shown as being areplacement for a pallet guide 24B, that is merely exemplary of variousmanners for connecting a cart or wagon to the AGV 20. Thus, chassis 22may be constructed to include any type of coupler for releasablysecurement to any type of trailer hitch at one end of the AGV chassis.In fact, it is contemplated that an AGV of this invention may include acoupler for releasable securement to a trailer hitch at each end of theAGV. Irrespective of the arrangement to the coupler and trailer hitch,when used in the tugger mode the AGV can carry its own load or cargo onits top plate, while other cargo is carried by the wheeled cart/wagon,or the AGV 20 may be used merely to pull the wheeled wagon/cart, withthe cargo only being on the cart/wagon. Moreover, an AGV constructed inaccordance with this equipment for use in a tugger mode can be used topull a string or series of wheeled carts/wagons instead of merely towinga single cart or wagon. Further still, if the AGV includes trailerhitches at both ends for operating in a tugger mode it is preferred thatthe AGV should include a start button 64 on each end of the chassis 22so that it can be started from the opposite end of the chassis to whichthe wheeled cart(s)/wagon(s) is/are connected. That said, it should beappreciated by those skilled in the art that if the AGV is configured sothat it only includes a coupler at one end of the AGV, the couplershould be located at the end of the AGV which is located opposite theend of the AGV at which the start button 64 is located.

As should be appreciated by those skilled in the art, the particular AGV20 as disclosed and described above and its method of use and the systemof which it is a part is merely exemplary of various AGV, systems andmethods of use that can be constructed in accordance with thisinvention. Thus, various modifications can be made to the system and itscomponents. By way of example, and not limitation, the chassis may be aone-piece construction in lieu of using sub-chassis construction shownand described above. Moreover, the AGV may be configured for remotestarting, e.g., similar to a remote start for an automobile. Thatarrangement will enable the operator of a fork lift which is used toload the pallet 102 with its cargo on the top plate of the AGV 20 tostart the AGV using a wireless remote while still seated or standing onthe fork lift vehicle, thus obviating the need for the operator to getoff of the fork lift vehicle to kick the start button. To that end, thecontrol and navigation circuitry 42 may include a remote starter (notshown) configured to receive a wireless signal from a wireless remote(not shown), whereupon in response to receipt of the wireless signal,the AGV is energized like that which is accomplished by kicking the kickswitch 64, but without requiring operation of that switch.

It is also contemplated that the system 10 be configured to effect thewireless charging of the AGV's batteries. Such charging can beaccomplished using any suitable wireless charging technique, e.g.,inductive charging, radio charging and resonance charging. Most oftoday's wireless chargers use inductive charging which transmit andreceive coils in close proximity. Larger batteries for electric vehiclestypically use resonance charging using coil “ring.” Irrespective of thetype of wireless charging chosen, a charging plate or coil (not shown)is preferably located in the floor immediately adjacent a point on themagnetic path 12, so that the AGV 20 can be brought to that point andstopped, whereupon electromagnetic energy can be transmitted wirelesslyto associated electrical components in the chassis of the AGV to chargethe AGV's batteries.

Insofar as alternative uses of the system 10 are concerned, it iscontemplated that the AGV 20, whether operating in a normal mode or inits tugger mode, may traverse the path in what may be called a “busroute” mode. When operating in a bus route mode the AGV will follow apath as programmed into its control and navigation circuitry, but willstop at various positions along the path that are established separateand apart from the programming of the control and navigation circuitry.In particular, in the bus route mode the system 20 will make use of theobstacle detection features of the AGV 20 to stop the AGV at a desiredpoint on the path or track. That action can be readily accomplished byplacing a cone or other warning structure on the magnetic path 12 at apoint the AGV is desired to stop, e.g., a loading or unloading station.In such a case, when the laser scanner of the AGV detects that cone orwarning structure in its path, the AGV will stop as described earlierand will remain stopped as long as that cone or warning structure isblocking the path. Accordingly, the AGV can then be loaded or unloaded.Once that has been accomplished the cone or warning structure can beremoved, so that the AGV can restart moving along the path.

Moreover, it should be appreciated that without further elaboration theforegoing will so fully illustrate our invention that others may, byapplying current or future knowledge, adopt the same for use undervarious conditions of service.

We claim:
 1. An automated guided vehicle for navigating andbi-directionally traversing magnetic paths on a ground surface to carrycargo to selected points on the paths, the paths comprising a strip ofmagnetic material of a first polarity facing upward from the groundsurface, said automated guided vehicle comprising: (a) a chassis havinga longitudinal central axis, a first section, a second section, and anintermediate section between said first and second sections, said firstsection including at least one first passive omni-wheel rotatable abouta fixed horizontal axis extending perpendicular to said longitudinalcentral axis but able to roll omni-directionally over the ground surfacewithout rotating about a vertical axis, said second section including atleast one second passive omni-wheel rotatable about a fixed horizontalaxis extending perpendicular to the longitudinal central axis but ableto roll omni-directionally over the ground surface without rotatingabout a vertical axis, a first drive wheel located at said intermediatesection and rotatable about a first transverse axis extendingperpendicularly to said longitudinal axis, a first motor coupled to saidfirst drive wheel for rotating said first drive wheel about said firsttransverse axis to cause said first drive wheel to roll along the groundsurface, a second drive wheel located at said intermediate section androtatable about a second transverse axis extending perpendicularly tosaid longitudinal central axis, a second motor coupled to said seconddrive wheel and configured to rotate said second drive wheel about saidsecond transverse axis to cause said second drive wheel to roll alongthe ground surface; (b) a top plate mounted on said chassis to support acargo item or piece of equipment thereon; and (c) control and navigationcircuitry including a magnetic sensor for sensing said strip of magneticmaterial and for operating said first and second motors to cause saidvehicle to roll over the ground surface and along a desired one of saidpaths, said desired one of said paths being established by said controland navigation circuitry, whereupon said automated guided vehicle isselectively moved to selected ones of said points under the control ofsaid control and navigation circuitry and wherein said control andnavigation circuitry comprises electronic components that are located ona board mounted on said intermediate section so that said electroniccomponents are located within a hollow interior space in saidintermediate section when said top plate is releasably mounted on saidchassis, said board being removable from said intermediate section andoriented vertically to provide access to said electronic components whensaid top plate has been removed from said chassis.
 2. The automatedguided vehicle of claim 1, wherein said automated guided vehicle isremotely startable.
 3. An automated guided vehicle system comprising theautomated guided vehicle of claim 1 and plural predetermined magneticpaths on a ground surface, said automated guided vehicle navigating andbi-directionally traversing said plural predetermined magnetic paths tocarry cargo to selected points on said paths.
 4. The automated guidedvehicle system of claim 3, wherein said paths include a main section andat least one branch section extending in a direction away from acontiguous portion of said main section and a magnetic strip member of adifferent polarity than the polarity of said main section to enable thevehicle to roll from said main section onto said branch section underthe control of said control and navigation circuitry.
 5. The automatedguided vehicle of claim 1, wherein said first section is modular andwherein said second section is modular.
 6. The automated guided vehicleof claim 1, wherein said first section comprises two first passiveomni-wheels, each of said two first passive omni-wheels being located onrespective transverse sides of said central longitudinal axis, andwherein said second section comprises two second passive omni-wheels,each of said two second passive omni-wheels being located on respectivesides of said central longitudinal axis.
 7. The automated guided vehicleof claim 1, wherein said chassis has an undersurface and wherein saidfirst and second sections include plural respective mounting pointslocated at various distances from said undersurface for selectivelymounting said first and second passive omni-wheels thereat.
 8. Theautomated guided vehicle of claim 1, wherein said chassis has anundersurface and wherein said automated guided vehicle includes a switchlocated on said chassis adjacent said undersurface configured to beengaged by the foot of a user to activate said vehicle.
 9. The automatedguided vehicle of claim 1, wherein said automated guided vehicleincludes a laser scanner on said first section and a laser scanner onsaid second section, each of said laser scanners is configured to detectan obstruction on a portion of said paths and to prevent said automatedguided vehicle from colliding with the obstruction.
 10. The automatedguided vehicle of claim 1, wherein said automated guided vehicleincludes an indicator light, which when illuminated indicates the readystatus of said automated guided vehicle.
 11. The automated guidedvehicle of claim 1, wherein said automated guided vehicle includes anaudible alarm for providing an audible signal indicating the location ofsaid automated guided vehicle.
 12. The automated guided vehicle of claim1, additionally comprising a source of illumination providingillumination adjacent said first section when said automated guidedvehicle is moving in one direction along the paths and providesillumination adjacent the second section when the automated guidedvehicle is moving in an opposite direction along the paths, whereuponthe source of illumination indicates the direction of travel of theautomated guided vehicle along the paths.
 13. The automated guidedvehicle of claim 1, wherein said automated guided vehicle includeschannels for receipt of the tines of a fork lift to lift said automatedguided vehicle off of the ground surface.